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Text Classification from Labeled and Unlabeled Documents using EM
 MACHINE LEARNING
, 1999
"... This paper shows that the accuracy of learned text classifiers can be improved by augmenting a small number of labeled training documents with a large pool of unlabeled documents. This is important because in many text classification problems obtaining training labels is expensive, while large qua ..."
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Cited by 1033 (15 self)
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This paper shows that the accuracy of learned text classifiers can be improved by augmenting a small number of labeled training documents with a large pool of unlabeled documents. This is important because in many text classification problems obtaining training labels is expensive, while large quantities of unlabeled documents are readily available. We introduce an algorithm for learning from labeled and unlabeled documents based on the combination of ExpectationMaximization (EM) and a naive Bayes classifier. The algorithm first trains a classifier using the available labeled documents, and probabilistically labels the unlabeled documents. It then trains a new classifier using the labels for all the documents, and iterates to convergence. This basic EM procedure works well when the data conform to the generative assumptions of the model. However these assumptions are often violated in practice, and poor performance can result. We present two extensions to the algorithm that improve ...
Robust Monte Carlo Localization for Mobile Robots
, 2001
"... Mobile robot localization is the problem of determining a robot's pose from sensor data. This article presents a family of probabilistic localization algorithms known as Monte Carlo Localization (MCL). MCL algorithms represent a robot's belief by a set of weighted hypotheses (samples), whi ..."
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Cited by 839 (85 self)
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Mobile robot localization is the problem of determining a robot's pose from sensor data. This article presents a family of probabilistic localization algorithms known as Monte Carlo Localization (MCL). MCL algorithms represent a robot's belief by a set of weighted hypotheses (samples), which approximate the posterior under a common Bayesian formulation of the localization problem. Building on the basic MCL algorithm, this article develops a more robust algorithm called MixtureMCL, which integrates two complimentary ways of generating samples in the estimation. To apply this algorithm to mobile robots equipped with range finders, a kernel density tree is learned that permits fast sampling. Systematic empirical results illustrate the robustness and computational efficiency of the approach.
Dynamic Bayesian Networks: Representation, Inference and Learning
, 2002
"... Modelling sequential data is important in many areas of science and engineering. Hidden Markov models (HMMs) and Kalman filter models (KFMs) are popular for this because they are simple and flexible. For example, HMMs have been used for speech recognition and biosequence analysis, and KFMs have bee ..."
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Cited by 770 (3 self)
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Modelling sequential data is important in many areas of science and engineering. Hidden Markov models (HMMs) and Kalman filter models (KFMs) are popular for this because they are simple and flexible. For example, HMMs have been used for speech recognition and biosequence analysis, and KFMs have been used for problems ranging from tracking planes and missiles to predicting the economy. However, HMMs
and KFMs are limited in their “expressive power”. Dynamic Bayesian Networks (DBNs) generalize HMMs by allowing the state space to be represented in factored form, instead of as a single discrete random variable. DBNs generalize KFMs by allowing arbitrary probability distributions, not just (unimodal) linearGaussian. In this thesis, I will discuss how to represent many different kinds of models as DBNs, how to perform exact and approximate inference in DBNs, and how to learn DBN models from sequential data.
In particular, the main novel technical contributions of this thesis are as follows: a way of representing
Hierarchical HMMs as DBNs, which enables inference to be done in O(T) time instead of O(T 3), where T is the length of the sequence; an exact smoothing algorithm that takes O(log T) space instead of O(T); a simple way of using the junction tree algorithm for online inference in DBNs; new complexity bounds on exact online inference in DBNs; a new deterministic approximate inference algorithm called factored frontier; an analysis of the relationship between the BK algorithm and loopy belief propagation; a way of
applying RaoBlackwellised particle filtering to DBNs in general, and the SLAM (simultaneous localization
and mapping) problem in particular; a way of extending the structural EM algorithm to DBNs; and a variety of different applications of DBNs. However, perhaps the main value of the thesis is its catholic presentation of the field of sequential data modelling.
Missing data: Our view of the state of the art
 Psychological Methods
, 2002
"... Statistical procedures for missing data have vastly improved, yet misconception and unsound practice still abound. The authors frame the missingdata problem, review methods, offer advice, and raise issues that remain unresolved. They clear up common misunderstandings regarding the missing at random ..."
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Cited by 739 (1 self)
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Statistical procedures for missing data have vastly improved, yet misconception and unsound practice still abound. The authors frame the missingdata problem, review methods, offer advice, and raise issues that remain unresolved. They clear up common misunderstandings regarding the missing at random (MAR) concept. They summarize the evidence against older procedures and, with few exceptions, discourage their use. They present, in both technical and practical language, 2 general approaches that come highly recommended: maximum likelihood (ML) and Bayesian multiple imputation (MI). Newer developments are discussed, including some for dealing with missing data that are not MAR. Although not yet in the mainstream, these procedures may eventually extend the ML and MI methods that currently represent the state of the art. Why do missing data create such difficulty in scientific research? Because most data analysis procedures were not designed for them. Missingness is usually a nuisance, not the main focus of inquiry, but
ModelBased Clustering, Discriminant Analysis, and Density Estimation
 JOURNAL OF THE AMERICAN STATISTICAL ASSOCIATION
, 2000
"... Cluster analysis is the automated search for groups of related observations in a data set. Most clustering done in practice is based largely on heuristic but intuitively reasonable procedures and most clustering methods available in commercial software are also of this type. However, there is little ..."
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Cited by 573 (29 self)
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Cluster analysis is the automated search for groups of related observations in a data set. Most clustering done in practice is based largely on heuristic but intuitively reasonable procedures and most clustering methods available in commercial software are also of this type. However, there is little systematic guidance associated with these methods for solving important practical questions that arise in cluster analysis, such as \How many clusters are there?", "Which clustering method should be used?" and \How should outliers be handled?". We outline a general methodology for modelbased clustering that provides a principled statistical approach to these issues. We also show that this can be useful for other problems in multivariate analysis, such as discriminant analysis and multivariate density estimation. We give examples from medical diagnosis, mineeld detection, cluster recovery from noisy data, and spatial density estimation. Finally, we mention limitations of the methodology, a...
Survey of clustering algorithms
 IEEE TRANSACTIONS ON NEURAL NETWORKS
, 2005
"... Data analysis plays an indispensable role for understanding various phenomena. Cluster analysis, primitive exploration with little or no prior knowledge, consists of research developed across a wide variety of communities. The diversity, on one hand, equips us with many tools. On the other hand, the ..."
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Cited by 499 (4 self)
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Data analysis plays an indispensable role for understanding various phenomena. Cluster analysis, primitive exploration with little or no prior knowledge, consists of research developed across a wide variety of communities. The diversity, on one hand, equips us with many tools. On the other hand, the profusion of options causes confusion. We survey clustering algorithms for data sets appearing in statistics, computer science, and machine learning, and illustrate their applications in some benchmark data sets, the traveling salesman problem, and bioinformatics, a new field attracting intensive efforts. Several tightly related topics, proximity measure, and cluster validation, are also discussed.
How many clusters? Which clustering method? Answers via modelbased cluster analysis
 THE COMPUTER JOURNAL
, 1998
"... ..."
Clustering with Bregman Divergences
 JOURNAL OF MACHINE LEARNING RESEARCH
, 2005
"... A wide variety of distortion functions are used for clustering, e.g., squared Euclidean distance, Mahalanobis distance and relative entropy. In this paper, we propose and analyze parametric hard and soft clustering algorithms based on a large class of distortion functions known as Bregman divergence ..."
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Cited by 443 (57 self)
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A wide variety of distortion functions are used for clustering, e.g., squared Euclidean distance, Mahalanobis distance and relative entropy. In this paper, we propose and analyze parametric hard and soft clustering algorithms based on a large class of distortion functions known as Bregman divergences. The proposed algorithms unify centroidbased parametric clustering approaches, such as classical kmeans and informationtheoretic clustering, which arise by special choices of the Bregman divergence. The algorithms maintain the simplicity and scalability of the classical kmeans algorithm, while generalizing the basic idea to a very large class of clustering loss functions. There are two main contributions in this paper. First, we pose the hard clustering problem in terms of minimizing the loss in Bregman information, a quantity motivated by ratedistortion theory, and present an algorithm to minimize this loss. Secondly, we show an explicit bijection between Bregman divergences and exponential families. The bijection enables the development of an alternative interpretation of an ecient EM scheme for learning models involving mixtures of exponential distributions. This leads to a simple soft clustering algorithm for all Bregman divergences.
Analyzing Incomplete Political Science Data: An Alternative Algorithm for Multiple Imputation
 American Political Science Review
, 2000
"... We propose a remedy for the discrepancy between the way political scientists analyze data with missing values and the recommendations of the statistics community. Methodologists and statisticians agree that "multiple imputation" is a superior approach to the problem of missing data scatter ..."
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Cited by 419 (50 self)
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We propose a remedy for the discrepancy between the way political scientists analyze data with missing values and the recommendations of the statistics community. Methodologists and statisticians agree that "multiple imputation" is a superior approach to the problem of missing data scattered through one's explanatory and dependent variables than the methods currently used in applied data analysis. The reason for this discrepancy lies with the fact that the computational algorithms used to apply the best multiple imputation models have been slow, difficult to implement, impossible to run with existing commercial statistical packages, and demanding of considerable expertise. In this paper, we adapt an existing algorithm, and use it to implement a generalpurpose, multiple imputation model for missing data. This algorithm is considerably faster and easier to use than the leading method recommended in the statistics literature. We also quantify the risks of current missing data practices, ...
Unsupervised learning of finite mixture models
 IEEE TRANSACTIONS ON PATTERN ANALYSIS AND MACHINE INTELLIGENCE
, 2002
"... This paper proposes an unsupervised algorithm for learning a finite mixture model from multivariate data. The adjective ªunsupervisedº is justified by two properties of the algorithm: 1) it is capable of selecting the number of components and 2) unlike the standard expectationmaximization (EM) alg ..."
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Cited by 418 (22 self)
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This paper proposes an unsupervised algorithm for learning a finite mixture model from multivariate data. The adjective ªunsupervisedº is justified by two properties of the algorithm: 1) it is capable of selecting the number of components and 2) unlike the standard expectationmaximization (EM) algorithm, it does not require careful initialization. The proposed method also avoids another drawback of EM for mixture fitting: the possibility of convergence toward a singular estimate at the boundary of the parameter space. The novelty of our approach is that we do not use a model selection criterion to choose one among a set of preestimated candidate models; instead, we seamlessly integrate estimation and model selection in a single algorithm. Our technique can be applied to any type of parametric mixture model for which it is possible to write an EM algorithm; in this paper, we illustrate it with experiments involving Gaussian mixtures. These experiments testify for the good performance of our approach.